Manipulator Differential Kinematics: Part I: Kinematics, Velocity, and Applications [Tutorial]

Kinematics, derived from the Greek word for motion, is the branch of mechanics that studies the motion of a body, or a system of bodies, without considering mass or force. This two-part tutorial is about the kinematics of robot manipulators, and in that context, it is concerned with the relationship between the position of the robot’s joints and the pose of its end effector as well as the relationships between various derivatives of those quantities. Kinematics is a fundamental concept in the study or application of robot manipulators, and our audience for Part I is students, practitioners, or researchers encountering this topic for the first time or looking for a concise refresher.